JPH0643014B2 - Tape-type article conveyor - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a tape-type article conveying device that intermittently conveys articles using a continuous strip tape.

[Prior Art] In recent years, various automatic assembling apparatuses have been proposed along with automation of factories. In these automatic assembling apparatuses, articles (parts) to be assembled are quickly and reliably supplied at low cost. The point is the technical issue.

That is, the general and most popular conventional method for supplying components to an automatic assembly apparatus is to prepare a component mounting pallet in consideration of the external shape, weight, and material of the supplied components,
A pallet system has been used in which components are placed in advance on the pallet in an aligned state, then the pallet is transported to a predetermined position, and the components are sequentially taken out from the pallet by an automatic assembling apparatus and assembled. Such a pallet method can be applied to relatively large parts and had a temporary effect, but the shape is too small and the quantity used is large to handle small parts such as screws with the pallet method. It was impossible to implement this pallet method.

Further, even if the pallet is applied to a small part such as a screw, it is very difficult to place the pallet on the pallet in the same direction because it requires many steps.

In view of this inconvenience, small parts such as screws may be housed in a container separately, and by vibrating the container, the directionality of the parts may be aligned, and the parts may be aligned and supplied one by one. There were also examples that adopted the vibration parts feeder method.

However, both of the above-mentioned pallet system and oscillating parts feeder system have a problem that when a plurality of kinds of articles are supplied, it is necessary to prepare pallets or oscillating parts feeders corresponding to the respective outer shapes.

Therefore, a cassette system for solving the above-mentioned problems has been proposed in "Parts Supply Device" in Japanese Patent Laid-Open No. 60-48855. The present application is such that as shown in the external perspective view of FIG. 9 (however, FIG. 4 in the present application), the parts are continuously accommodated in the cassette.

That is, in FIG. 9, three studs S are hung from the inner surface in the cassette case 100 shown by the chain double-dashed line, and the reels 103, 1 are arranged around these studs S.
Nos. 05 and 104 are provided so as to be rotatable and to obtain a driving force, respectively. In a state in which the belt 101 and the belt 102, which can be adhered or separated from each other a plurality of times, are wound up and wound into the reel 103. It is configured to hold.

In the cassette 100, the component 109 to be conveyed is sandwiched between the belts 101 and 102 in advance and continuously supplied to be sent to the reel 103.

Then, by rotating the reels 104 and 105 for winding, the belts 101 and 102 are respectively moved to the roller 10
6, 1.107 and 108 are wound up, but the adhesive state of the belts 101 and 102 is peeled off in the middle thereof, and the sandwiched component 109 appears to the outside,
The parts 109 are taken out by a robot hand or the like and assembled. Moreover, the number of parts has not been detected.

[Problems to be Solved by the Invention] However, in the cassette format of the above conventional example,
Since the parts are simply sandwiched between the tapes, the parts cannot be accurately positioned on the tape. As a result, the problem that the parts cannot be taken out by the robot hand or the like provided in the device for assembling the parts and the tape that can be repeatedly contacted and separated Has a contact and separation limit number of times, and if it exceeds that number, the tape must be replaced, and again, when the tape is wound on the reel, the tape will bend and it will not be possible to reliably send parts Since the problem and the quantity of parts have not been detected, there is a problem that the fully automatic robot hand operation cannot be performed.

Therefore, the tape-type article conveying device of the present invention has been made in view of the above problems, and an object thereof is to accurately position an article on a tape and to handle the article by a robot device or the like. The tape hand does not need to be replaced, and the tape does not bend when it is wound up, so it is possible to reliably convey the goods, and it is possible to detect the quantity of the goods, making it a fully automatic robot hand. It is an object to provide a tape-type article conveying device that operates in a manner that makes it possible to operate.

[Means for Achieving the Object] and [Operation] In order to solve the above problems and achieve the object, a manufacturing station for manufacturing an article and a processing / assembly station for processing or assembling the manufactured article. A tape-type article conveying device that is transported to and connected to a tape-type article conveying apparatus, wherein the tape-type article conveying apparatus has a plurality of tapes each having a storage section for storing manufactured articles, and winding / winding for continuous conveyance of the tapes. The robot is provided with a tape driving means for performing a rewinding drive and a robot device for taking out / accommodating an article into / from a tape accommodating portion, and the robot is provided when the tape type article conveying apparatus is transferred and connected to a manufacturing station. Counting means for counting the number of articles in synchronism with the storage operation of the articles by the device, and comparison means for comparing the counting result by the counting means with a preset count value. And a means for discriminating whether or not the robot apparatus can store the article based on the comparison result of the comparison means, so that the robot apparatus can fully synchronize the article storing operation by the robot apparatus at each station. Work to be able to perform hand movements.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a basic principle diagram showing how parts P are stored in and taken out from a tape. Referring to FIG. 1, the basic principle of allowing the component P to be transported and taken out by the tape will be described. The transport tape 3 has a size slightly larger than the external dimensions (depth, width, height) of the component P as shown in the figure. The concave portions 3a having dimensions are continuously provided at the same intervals.
Pitch holes 3b are continuously formed in the vicinity of both edges of the transport tape 3 as shown in the drawing, and a sprocket 12 and a pitch hole 3b, which will be described later, engage with each other to apply a driving force to the transport tape 3. I try to tell you. Furthermore, the cover tape 5 covers the part P set inside the recess 3a as shown in the figure, so that the part P set inside the recess 3a is held at the set position and can be taken out. It is provided.

That is, in the state where the carrier tape 3 and the cover tape 5 are moved in the direction of the arrow shown by the broken line in the figure, the component P is moved in the direction of the arrow shown by the broken line and set inside the recess 3a of the carrier tape 3. After that, the cover tape 5 covers the upper surface of the component P, while the carrier tape 3 is moved in the direction of the arrow shown by the solid line in the figure, and the guide roller 17 is rotatable around the stud S. In the state in which the cover tape 5 whose direction has been changed by is also moved in the arrow direction shown by the solid line, the upper surface of the component P is exposed, so that it can be taken out in the arrow direction shown by the solid line. In this way, after the component P is accommodated, the tape is wound inside the reel and continuously accommodated and continuously supplied.

Next, FIG. 2 is a side view showing a schematic configuration of the tape-type article conveying device 50 of the embodiment, showing a state in which the above-mentioned conveying tape 3 and cover tape 5 are wound inside each reel. .

In FIG. 2, a reinforcing member (not shown) is integrally provided on the substrate 1 that is machined to have the plate material shown in the external shape, and basically all of the components described below can be supported by one side. Has strength. A stud S indicated by a symbol S in the drawing is hung from a frame (not shown) integrally formed with the substrate 1 on the substrate 1 so that a reel, a wheel and the like can be rotated and rotatably supported. I am trying to do it.

Next, as described above, the carrier tape 3 and the cover tape 5 in which the component P is set in the recess 3a are covered with the cover tape 5 so as to cover the opening of the recess 3a as shown in the drawing. The component mounting reel 6 and the cover tape 5 for winding and supplying the cover tape 5 for this purpose, and the tape winding for winding and supplying the carrier tape 3 for this purpose. Each of the reels 7 for rotation is made rotatable around the tod S, while the center of rotation 6 of these reels is rotated.
c, 7c and 8c have tape ends with fixing portions 6d, 7d,
8d, each tape is wound by the outer peripheral surfaces of the rotation center portions 6c, 7c, 8c of the reels. Rotating means is provided for each of these reels, and the rotating means transmits the rotational driving force in a contact state with the outer peripheral edge portion of the reel.

Therefore, the component mounting reel 6, the tape take-up reel 7, and the cover tape take-up reel 8 are respectively provided with rotating means for giving a driving force.

FIG. 3 is an external view showing the drive assembly 13 of the component mounting reel 6 in the rotating means. In FIG. 3, a tape winding reel 7 and a cover tape winding reel 8 are shown.
Also, drive assemblies 14 and 15 having the same configuration are provided respectively, and the drive assembly 13 will be representatively described, and the description of the drive assemblies 14 and 15 will be omitted.

In FIG. 3, while driving the various tapes described above,
A pair of rubber rollers 13b made of urethane rubber are fixed to both ends of the output shaft of the motor 13a for generating tension on the tape. The outer peripheral surfaces of these rubber rollers 13b are brought into contact with the outer peripheral edge portions of the hubs 6a and 6b of the component mounting reel 6 with biasing forces, respectively.
Is provided at the tip of an arm member 13c that is rotatably supported around a stud S vertically extending from the substrate 1 as shown in the drawing so that the contact position is shown.

Further, a tension spring 13e is stretched between the other end 13d of the arm member 13c and the stud S,
A biasing force for rotating the arm member 13c in the clockwise direction is applied, and the outer peripheral surface of the rubber roller 13b abuts against the outer peripheral edge portions of the hubs 6a, 6b of the component mounting reel 6 with a biasing force. It is friction driven.

Again, in FIG. 2, the motors 13a, 14a, 15a configured as described with reference to FIG. Drive the posterior surgery with the motors 13a, 14
a, 15a.

The control device 10 has a built-in counter, and the switching switch 10a and the counter 10b are provided at positions that can be operated from the outside.
Is used to switch the operation mode described later, while the counter 10b is provided to count and display the number of accommodated parts P.

The control unit 10 is incorporated in the tape-type article conveying apparatus 50 as shown in the drawing, and when set to an assembling apparatus M and a component manufacturing apparatus N which will be described later, a signal and a power line are connected to the assembling apparatus M and the component manufacturing apparatus. The device N is automatically connected.

When the tape-type article conveying device 50 is set in the component manufacturing device N or the assembling device M, the power is automatically turned on and the operation mode switching performed by the switching switch 10a described above can be automatically performed. Is.

Next, the stepping motor 9 shown by a broken line has a wiring shown by a chain double-dashed line in the drawing between the stepping motor 9 and the control device 10, and is driven by the control from the control device section 10. However, the rotation driving force of the stepping motor 9 is transmitted to the sprocket gear 12b of the sprocket 12 which is rotatable around the stud S via the belt 11 shown by the broken line. I have to.

On the outer peripheral surface of the sprocket 12, pins 12a that engage with the pitch holes 3b of the transport tape 3 are planted at equal intervals with the pitch holes 3b of the transport tape 3.
Can be conveyed by rotating the stepping motor 9. Two of the sprockets 12 are integrally formed with the sprocket gears 12b, and are engaged with the two rows of the punch holes 3b of the transport tape 3.

Between these two sprockets 12 are two component presence / absence sensors 2 located adjacent to the concave portion 3a of the carrier tape 3.
0 is fixed to the substrate 1 in the same pitch as the concave portion 3a, and the presence or absence of the component P in the concave portion 3a is detected and counted.

Next, a guide roller 16 rotatably supported around the stud S on the substrate 1 is provided to change the conveying movement direction of the conveying tape 3 from the vertical direction to the sprocket 12 as shown. Has been.

A guide roller 17, which is axially supported similarly to the guide roller 16, is provided to change the conveying movement direction of the cover tape 5 from the direction toward the sprocket 12 to the direction toward the component mounting reel 6 as shown in the figure. Has been.

Furthermore, as shown in the drawing, the guide rail 18 provided on the substrate 1 and processed to form a circular arc in the plate material has the cover tape 5 covering the top of the transport tape 3 along the outer circumference of the circular arc. It is provided for guidance.

Further, a pair of cam followers 19, which are rotatably supported around the stud S near the left and right ends of the base 1, set the tape-type article conveying device 50 as a whole to an assembling device M or a component manufacturing device N which will be described later. It is used as a guide for relative positioning when performing.

Next, FIGS. 4 (a) and 4 (b) are external perspective views showing a state in which the tape-type article conveying device 50 is set in the assembling apparatus M or the component manufacturing apparatus N equipped with the robot hand H,
After being inserted into the mounting portion 22 provided integrally with the assembling apparatus M or the component manufacturing apparatus N, a pair of cam followers 19 as guide guides for relative positioning fall into the locking groove 22a of the mounting portion 22. It shows the state of being set in a predetermined position by acting like this.

A robot hand H is provided in each of the assembling apparatus M and the component manufacturing apparatus N. The movement of the robot hand H is completely synchronized with the stepping motor 9 of the tape-type article conveying apparatus 50, and thus the component manufacturing apparatus. The component P manufactured by N is set in the recess 3a of the transport tape 3 while the tape-type article transport device 50 is set in the component manufacturing apparatus N when the component P is not housed in the recess 3a of the transport tape 3. The parts P are supplied to the assembling apparatus M when the parts P are stored.

Next, the operation of the tape-type article conveying device 50 will be described with reference to the operation explanatory diagram of the tape-type article conveying device 50 of FIG.

In this figure, the component P is emptied in the concave portion 3a of the conveying tape 3 of the tape-type article conveying device 50, and the component P manufactured by the component manufacturing apparatus N is stored in the concave portion 3a of the conveying tape 3. The operation mode in which the part P is filled in the concave portion 3a of the transport tape 3 and the part P is supplied to the assembling apparatus M will be described separately by the arrows shown by the solid line and the arrows shown by the broken line.

(Operation mode in which the component P manufactured by the component manufacturing apparatus N is accommodated in the transport tape 3) The component manufacturing apparatus N guides the cam follower 19 to set the component P, and the component P is accommodated in the recess 3a of the transport tape 3. In carrying out the work, the carrier tape 3 is fully wound up by the tape winding reel 7 and the cover tape 5 is also fully wound around the cover tape winding reel 8. .

Therefore, the component mounting reel 6 is in an empty state, and the delivery tape 3 is attached to the rotation center portion 6c of the component mounting reel 6.
The cover tape 5 is in a state in which the overlapped end portions thereof are only fixed.

Next, the switch 10a of the control unit 10 is automatically set to the accommodation side. Or set manually. Then, each of the drive assemblies 13, 14, 15 and the stepping motor 9 is rotated to house the component P in the concave portion 3a of the transport tape 3, but the reel 6 for the component device and the winding tape for the cover tape are wound. The reel 8, the tape take-up reel 7, and the sprocket wheel 12 are each rotated in the direction of the arrow indicated by the broken line to move the tape in the direction of the arrow indicated by the broken line in FIG. The component P is accommodated in the cartridge, and the component mounting reel 6 is set to the full winding state, while the tape winding reel 7 and the cover tape winding reel 8 are emptied.

At this time, while the tapping motor 9 is rotated intermittently, the drive assemblies 13, 14, 15 are also rotated by a predetermined driving force, and in particular, they are conveyed by the driving force of the stepping motor 9. The transport tape 3 is moved and transported by the sprocket wheel 12. This moving / conveying force gives a rotational force in the direction of the broken line arrow to the winding reel 7, but in this operating state, the driving force of the rotating assembly 14 is applied to the tape winding reel 7 by a solid arrow. The rotational driving force in the direction is given, and the rotational driving force is set to be sufficiently smaller than the tension applied to the transport tape 3, so that the transport tape 3 can be prevented from being damaged.

On the other hand, the rotation driving force by the rotation assembly 13 causes the component mounting reel 6 to rotate in the direction of the broken line arrow, and the rotation of this component in the direction of the broken line arrow causes the transport tape 3 and the cover tape 5 to wind around the component mounting reel 6. While taking, the cover tape take-up reel 8 is also rotated in the direction of the broken line arrow by the tension applied to the cover tape 5, but the rotational driving force of the component mounting reel 6 is set to be smaller than the tension of the carrier tape 3. In this way, the transport tape 3 is prevented from tarmining.

Next, the rotational force of the rotary assembly 15 that applies the rotational drive force to the cover tape take-up reel 8 is set to be smaller than the tension applied to the cover tape 5, and It is for prevention.

Further, the stepping motor 9 is preset so that the concave portion 3a of the transport tape 3 is accurately intermittently driven in the take-out section 2 when the part P is accommodated and taken out.

Therefore, the movement of the robot hand H of the component manufacturing machine N is completely synchronized with the stepping motor 9, and the component P manufactured by the component manufacturing machine is sprocketed to the take-out section 2.
Therefore, the tape can be accurately accommodated in the concave portion 3a of the transport tape 3 sent by.

In this way, the component mounting reel 6 is brought into the full winding state.

(Operation mode in which the component P is supplied from the transport tape 3 to the assembling apparatus M).

When the component mounting reel 6 is in the fully wound state, this time, the tape-type article conveying device 50 is removed from the state of being set in the component manufacturing machine, and the robot hand H shown in FIG. The cam follower 19 of the tape type article conveying device 50 is guided and set with respect to the assembling device M provided.

Next, the switch 10a of the control unit 10 is automatically or manually set on the supply side.

After this, the drive assemblies 13, 14, 15 and the stepping motor 9 are rotated, respectively, and as a result, the component mounting reel 6
The cover tape take-up reel 8, the tape take-up reel 7 and the sprocket wheel 12 are respectively rotated in the arrow directions shown by the solid lines to move the tapes in the arrow directions shown by the solid lines in FIG. First, the parts P accommodated in the concave portions 3a of the transport tape 3 can be taken out by the robot hand H in the take-out section 2.

Next, the transport tape 3 is transported in the arrow direction indicated by the solid line by the driving force of the stepping motor 9, thereby giving the component mounting reel 6 a rotational force in the arrow direction indicated by the solid line.

On the other hand, the cover tape take-up reel 8 is rotated in the arrow direction shown by the solid line by the driving force of the rotating assembly 15 to convey the cover tape 5 in the arrow direction shown by the solid line. Further, the driving force of the rotating assembly 13 gives the component mounting reel 6 a rotational force in the direction of the arrow shown by the broken line, but this rotational force is set to be smaller than the tension of the transport tape 3 and the cover tape 5. Therefore, the carrier tape 3 and the cover tape 5 are prevented from being tampered with.

On the other hand, the driving force of the rotating assembly 14 is set such that the tape take-up reel 7 is rotated in the direction of the arrow shown by the solid line to wind up the transport tape 3, and the rotational force is smaller than the tension of the transport tape 3. The carrier tape 3 is prevented from tarming.

In this way, when the parts P stored in the transfer tape 3 are completely taken out by the take-out section 2, the tape-type article transfer device 50 is removed from the assembling device M, and is attached to the parts manufacturing machine again to store the parts P. To do.

Hereinafter, by repeating the above operation, the component P manufactured by the component manufacturing apparatus N is supplied to the assembling apparatus M. Here, if a large number of tape type article conveying devices 50 are prepared,
Since the movability of the assembling apparatus M and the component manufacturing apparatus N can be increased, a plurality (two in the figure) of tape type article conveying apparatuses 50 can be set as shown in FIG.

Next, of the operations of the tape-type article conveying device 50, the control performed by the control device 10 will be described based on the flow chart.

FIG. 6 is a schematic configuration block diagram of the tape-type article conveyance device 50. The configuration of the tape-type article conveyance device 50 in this figure is a component connected to the control device 10 having the configuration described with reference to FIG. , Elements showing the components already described with reference to FIG. 2, and elements having the same numbers as in FIG.
The explanations are omitted by adding the reference signs.

Now, in FIG. 6, the motors constituting the drive assemblies 13, 14, 15 and the stepping motor 9 respectively, and the stepping motor are connected to the control device 10 and the motor driver for generating the drive voltage / current. ing. An alarm device A is further connected to the control device 10,
The operator is notified of the occurrence of an abnormality. Further, the optical connector C ₂ and the power connector C ₁ for optical signal coupling to the central control unit of the component manufacturing apparatus N or the assembly apparatus M for exchanging signals and supplying power are respectively connected to the control apparatus. .

The operation of the tape-type article conveying device 50 having the above structure will be described with reference to the flowcharts of FIGS. 7 and 8.

First, the flow chart of FIG. 7 shows an operation mode in which the component P manufactured by the component manufacturing apparatus N is accommodated in the transport tape 3, and when the cam follower 19 is guided and set by the component manufacturing apparatus N, step S10 is performed. Then, the power is automatically turned on, and the process proceeds to step S11. When the "presence or absence" of the component P is determined by the component presence / absence sensor 20 and the off state, that is, the component "absence" is determined, the central controller is instructed to be able to supply the component. On the other hand, if the presence / absence sensor 20 determines that the component P is "ON" in step S11 and is turned on, the process proceeds to step S13 to increase the remaining number (N). Next, in step S14, it is judged whether the remaining number (N) is larger than the set remaining number, and if it is larger than or equal to the set remaining number, in step S15, the alarm device A is operated to notify that the fullness is near. . On the other hand, if the remaining number (N) is smaller than the set remaining number in step S14, the process proceeds to step S16, and it is determined whether the remaining number (N) is equal to the full number. If they are equal, the process proceeds to step S18. After the advancing device is stopped, an alarm of an abnormal state is issued in step S19.

On the other hand, in step S16, when the remaining number (N) is not equal to the full number, the process proceeds to step S17, and the step motor SM9 reverses (in the direction of the broken line arrow in FIG. 5) based on the synchronous operation with the robot hand H. On the other hand, the drive assembly 1
Motors 13a, 14 which respectively constitute 3, 14, 15
A drive voltage power source of 15V (volt), 5V, 5V is supplied to each of a and 15a to drive each reel described above to generate an appropriate tension on each tape to remove tarmi. This operation is repeated until N is full.

Next, the operation mode for supplying the component P from the transport tape 3 to the assembling apparatus M will be described with reference to the flow chart of FIG.

When the component mounting reel 6 is brought into the full winding state, this time, the tape type article conveying device 50 is moved to the component manufacturing device N.
The cam follower 19 of the tape-type article conveying device 50 is guided and set to the assembling device M having the robot hand H shown in FIG. 4 at this time. The switch 10a is set on the supply side manually or automatically, and after the power is automatically turned on at the subsequent step S30, the step S31 is performed.
Proceed to step "presence or absence" of the part P by the part presence sensor 20.
When it is determined that the component is on, that is, the component P is “present”, the central control unit of the assembly apparatus M is instructed that the component can be taken out.

On the other hand, when the presence / absence sensor 20 determines in step S31 that the component P is "absent" and is turned off, the process proceeds to step S33, and the remaining number (N) is subtracted.

Next, in step S34, it is judged whether the remaining number (N) is larger than the set remaining number, and if it is smaller, step S34 is executed.
At 35, the alarm device A is operated to notify that the remaining number is small.

On the other hand, if it is determined in step S34 that the remaining number (N) is greater than or equal to the set remaining number, the process proceeds to step S36, in which it is determined whether the remaining number (N) is "0". Proceeds to step S39, the device is stopped, and the alarm device A is operated at the next step S40 to end the process. In step S36, the remaining number (N) is "0".
If it is determined that it is not, the process proceeds to step S37, and it is determined whether or not the number n of continuous off-state detections of the component presence / absence sensor 20 is larger than (Q).
In step 39, the apparatus is stopped, and in the next step S40, the alarm device A is operated and the process ends.

On the other hand, when the number n of detections of the continuous off state is less than (Q), the process proceeds to step S38, where the step motor 9 is normally rotated (in the direction of the solid line arrow in FIG. 5) while the drive assembly 1 is operated.
Motors 13a, 14 which respectively constitute 3, 14, 15
A drive voltage power source of 5V (volt), 15V, and 5V is supplied to a and 15a, respectively, to drive each reel described above and generate an appropriate tension on each tape to remove tarmi. Repeat this operation, N is "0"
Continue until.

The parts P manufactured by the parts manufacturing apparatus N are supplied to the assembling apparatus M by repeating the above operation.

In the above embodiment, the control unit 10 is incorporated in the tape-type article conveying apparatus 50 so that the signal lines set in the assembling apparatus M and the component manufacturing apparatus are automatically connected, but they function independently. But good.

As described above, by transporting the assembly component with the tape provided with the concave portion matching its shape, it is possible to accurately position the assembly component at the time of mounting and removal. Further, it has become possible to easily automate the feeding and supply of small articles, which has been considerably difficult in the past, by using a robot or the like.

In addition, since the carrier tape and cover tape are wound up without adhering, it is possible to use them repeatedly semipermanently, and as a result of eliminating the need to replace the tape at all,
We were able to significantly reduce running costs.

Furthermore, since the stepping motor 9 for driving and the rotating assemblies 13, 14, 15 are used, troubles such as tape winding mistakes and dropping of the parts P due to the deflection of the tape hardly occur. Natsuta.

Further, the tape driving unit may be provided outside the tape type article conveying device 50 and commonly used.

Although the component P is a rectangular parallelepiped in the above embodiment, it can be used for a component having a complicated shape by forming the recess 3a of the transport tape 3 so that the component P can be accurately positioned. Needless to say.

[Effects of the Invention] As described above, the parts can be accurately positioned on the tape, and the parts can be handled by the robot device or the like, the tape exchange is not required, and the tape can be wound when the tape is wound. It is possible to provide a tape-type article conveyance device capable of reliably conveying an article because it does not have any twisting, capable of detecting the number of parts, and capable of a fully automatic robot hand operation. it can.

[Brief description of drawings]

FIG. 1 is a basic principle view showing a state in which a part P is stored in and taken out from a tape, FIG. 2 is a side view showing a schematic configuration of a tape type article conveying device 50 of an embodiment, and FIG. 3 is a rotation means. Of these, an external view showing the drive assembly 13 of the component mounting reel 6, and FIG. 4 (a) is an external perspective view showing a state in which the tape-type article conveying device 50 is set in the assembly device M equipped with the robot hand H. FIG. 4 (b) is an external perspective view showing a state in which the tape-type article conveying device 50 is set in the component manufacturing apparatus N equipped with the robot hand H, and FIG. 5 is an operation explanation of the tape-type article conveying device 50. 6 and 6 are schematic block diagrams of the tape-type article conveying device 50, FIGS. 7 and 8 are flowcharts, and FIG. 9 is proposed by "parts supply device" which is disclosed in JP-A-60-48855. It is FIG. In the figure, 1 ... Substrate, 2 ... Take-out part, 3 ... Conveying tape, 3a ... Recess, Pitch hole, 5 ... Cover tape, 6 ... Reel for component device, 7 ... Tape winding Reel, 8 …… Reel for winding cover tape, 9 ……
Stepping motor, 10 ... Control device, 10b ... Counter, 11 ... Belt, 12 ... Sprocket, 1
3, 14, 15 ... Rotating assembly, 16, 17 ... Guide roller, 18 ... Guide rail, 19 ... Cam follower, 20 ... Component presence / absence sensor, 50 ... Tape type article conveying device, P ... Parts, H ... Robot hand, M ...
Assembly equipment, N ... parts manufacturing equipment, S ... stud, A ...
... alarm device, C ₁ ... optical connector, C ₂ ... power connector.

Claims (1)

[Claims] 1. A tape type article conveying device which is connected to a manufacturing station for producing articles and a processing / assembling station for processing or assembling the produced articles. Are a plurality of tapes having a storage portion for storing the manufactured articles, a tape drive means for performing winding / rewinding drive for continuous transport of the tapes, and a storage portion for storing the tapes. And a robot device for taking out / storing the article, wherein when the tape-type article conveying device is transfer-connected to the manufacturing station, it interlocks with the storing operation of the article by the robot device. Counting means for counting the number of the articles, comparing means for comparing the counting result by the counting means with a preset count value, and the comparing means. Tape-article carrying apparatus, characterized in that on the basis of the comparison result of the step; and a determination means for determining whether the storing operation of the article by the robot apparatus.